
As outlined in [1]} for the above parameters system ()
belongs to the class \(\mathcal {N}^{1,2}\) .
We compare the FMPC Algorithm REF  with OCP (REF )
to the FMPC scheme from [2]}.
For Algorithm REF  we choose
\(\varepsilon _1 = 0.95,\ \varepsilon _2 = 0.99,\ M = 15.\) 
